CN106020124B - Servo motor control device and collision detection method - Google Patents
Servo motor control device and collision detection method Download PDFInfo
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- CN106020124B CN106020124B CN201610191891.2A CN201610191891A CN106020124B CN 106020124 B CN106020124 B CN 106020124B CN 201610191891 A CN201610191891 A CN 201610191891A CN 106020124 B CN106020124 B CN 106020124B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4141—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by a controller or microprocessor per axis
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/001—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration by measuring acceleration changes by making use of a triple differentiation of a displacement signal
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
- G01P15/00—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration
- G01P15/18—Measuring acceleration; Measuring deceleration; Measuring shock, i.e. sudden change of acceleration in two or more dimensions
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34013—Servocontroller
Abstract
The invention provides a servo motor control device with high collision detection precision. A position command speed dimension signal output unit of the servo motor control unit outputs a speed dimension signal corresponding to the position command. A servo motor speed dimension signal output unit outputs a servo motor speed dimension signal. When the absolute value of these speed deviations becomes equal to or greater than a specific value, the first collision detection section detects a collision. The position command acceleration dimension conversion unit converts a velocity dimension signal associated with the position command into an acceleration dimension signal and outputs the acceleration dimension signal. The servo motor acceleration dimension conversion unit outputs an acceleration dimension signal of the servo motor. The second collision detection portion) detects a collision when the absolute value of the acceleration deviation reaches a specific value or more. In addition, the selection unit selects the first collision detection unit and the second collision detection unit according to the selection setting of the detection method of the parameter setting unit.
Description
Technical Field
The present invention relates to a servo motor control device and a collision detection method, and more particularly to a servo motor control device and a collision detection method having a servo motor for operating an object to be operated.
Background
Conventionally, there is a technique for detecting a collision of a moving object such as a robot arm in a control device of a servo motor.
For example, patent document 1 describes an actuator control device that controls an actuator having a moving body. The device of patent document 1 includes: a current detection unit that detects a value of a current flowing to a motor in the actuator during a period from when acceleration of the movable body ends to when the movable body moves before deceleration starts, during driving of the actuator; and a collision detection unit that detects a collision of the mobile body when the current value detected by the current detection unit exceeds a predetermined threshold value. That is, in the technique of patent document 1, if the torque command value exceeds the threshold value, a collision detection signal is output.
Documents of the prior art
Patent document
Patent document 1: japanese patent laid-open publication No. 2014-87235
Summary of The Invention
Technical problem to be solved by the invention
However, the technique of patent document 1 has a problem that a collision cannot be detected when a bias load is applied or when acceleration and deceleration are performed. Therefore, the detection accuracy of the collision detection is insufficient.
In view of the above circumstances, an object of the present invention is to provide a servo motor control device capable of solving the above problems and improving the accuracy of collision detection.
Technical scheme for solving technical problem
A servomotor control device according to the present invention is a servomotor control device including a servomotor for operating an operation target object and a servomotor control unit for controlling the servomotor based on a position command, the servomotor control unit including: a position command speed dimension signal output unit that outputs a speed dimension signal corresponding to the position command; a servo motor speed dimension signal output unit that outputs a speed dimension signal of the servo motor; a first collision detection unit that detects a collision when an absolute value of a speed deviation, which is a difference value between the speed dimension signal output by the position command speed dimension signal output unit and the speed dimension signal output by the servo motor speed dimension signal output unit, is equal to or greater than a predetermined value; a position command acceleration dimension conversion unit that converts the velocity dimension signal output by the position command velocity dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal; a servo motor acceleration dimension converting unit that converts the speed dimension signal output by the servo motor speed dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal; a second collision detection unit that detects a collision when an absolute value of an acceleration deviation, which is a difference value between the acceleration dimension signal output from the position command acceleration dimension conversion unit and the acceleration dimension signal output from the servomotor acceleration dimension conversion unit, is equal to or greater than a predetermined value; and a selection unit that selects the first collision detection unit and the second collision detection unit based on a specific parameter.
With such a configuration, the first collision detection unit and the second collision detection unit can be appropriately selected according to the application of the application program and the like under the position control, and the accuracy of the collision detection can be improved.
A servomotor control device according to the present invention is a servomotor control device including a servomotor for operating an operation target object and a servomotor control unit for controlling the servomotor based on a speed command, the servomotor control unit including: a speed command speed dimension signal output unit that outputs a speed dimension signal corresponding to the speed command; a servo motor speed dimension signal output unit that outputs a speed dimension signal of the servo motor; a first collision detection unit that detects a collision when an absolute value of a speed deviation value, which is a difference value between the speed dimension signal output by the speed command speed dimension signal output unit and the speed dimension signal output by the servomotor speed dimension signal output unit, is equal to or greater than a predetermined value; a speed command acceleration dimension conversion unit that converts the speed dimension signal output by the speed command speed dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal; a servo motor acceleration dimension converting unit that converts the speed dimension signal output by the servo motor speed dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal; a second collision detection unit that detects a collision when an absolute value of an acceleration deviation, which is a difference value between the acceleration dimension signal output from the speed command acceleration dimension conversion unit and the acceleration dimension signal output from the servomotor acceleration dimension conversion unit, is equal to or greater than a predetermined value; and a selection unit that selects the first collision detection unit and the second collision detection unit based on a specific parameter.
With such a configuration, the first collision detection unit and the second collision detection unit can be appropriately selected according to the application of the application program and the like under the speed control, and the accuracy of the collision detection can be improved.
In the servomotor control device according to the present invention, the servomotor control unit further includes a third collision detection unit that detects a collision when an absolute value of the acceleration dimension signal output by the servomotor acceleration dimension conversion unit is equal to or greater than a predetermined value, and the selection unit further selects the third collision detection unit based on the predetermined parameter.
With such a configuration, in a situation where the acceleration is slow, the accuracy of the collision detection can be improved by comparing the acceleration dimension signal itself with a specific value.
In the servo motor control device according to the present invention, the servo motor speed dimension signal output unit outputs, as the speed dimension signal, a signal obtained by differentiating a position signal detected by a position detection sensor that detects a position of the servo motor.
With such a configuration, the velocity dimension signal can be easily acquired by the differentiator, and the configuration can be simplified.
In the servo motor control device according to the present invention, the servo motor speed dimension signal output unit outputs a speed estimation signal calculated by a speed observer that estimates a speed from an input signal input to a control target of a model and an output signal of the control target, as the speed dimension signal.
With such a configuration, collision detection can be performed even in a configuration using a scope.
The servo motor control device according to the present invention is characterized in that the servo motor control device includes a feedback loop for calculating a deviation between a signal obtained by multiplying a value of the position command by a proportional gain and a signal obtained by differentiating the position signal detected by the position detection sensor by a differential filter, and the servo motor speed dimension signal output unit outputs an output signal of the differential filter distributed in the feedback loop as a speed dimension signal.
With such a configuration, the calculation can be simplified, and the configuration can be simplified.
In the servo motor control device according to the present invention, the first collision detection unit calculates a difference between a signal obtained by multiplying the value of the position command by a proportional gain and a signal obtained by differentiating the position signal detected by the position detection sensor as a simulated velocity deviation in place of the velocity deviation, and detects a collision when an absolute value of the simulated velocity deviation is equal to or greater than a predetermined value.
With such a configuration, the calculation can be simplified, and the configuration can be simplified.
In the servo motor control device according to the present invention, the second collision detection unit calculates a signal obtained by differentiating the simulated velocity deviation as a simulated acceleration signal instead of the acceleration deviation, and detects a collision when an absolute value of the simulated acceleration deviation is equal to or greater than a predetermined value.
With such a configuration, the calculation can be simplified, and the configuration can be simplified.
In the servo motor control device according to the present invention, the selection unit selects any one of the first collision detection unit, the second collision detection unit, and the third collision detection unit based on the parameter set from the outside.
With this configuration, a circuit suitable for collision detection can be set from the outside as needed, and the load for circuit change is reduced, so that the circuit can be easily changed.
In the servo motor control device according to the present invention, the selection unit externally sets the specific value of the first collision detection unit, the specific value of the second collision detection unit, and the specific value of the third collision detection unit.
With this configuration, the specific value can be set from the outside at any time, and the load to be changed is small, so that the change can be easily performed.
The servo motor control device according to the present invention is characterized in that the velocity dimension signal is a signal of a filter including an element having a transfer function of 1/(τ s +1) as a control system model.
With such a configuration, the filter can include the elements of the control model, and a signal close to the actual signal can be obtained in a simulated manner.
In the servo motor control device according to the present invention, the filter sets a cutoff frequency from the outside.
With such a configuration, the change load is reduced, and the cutoff frequency can be appropriately and easily selected.
A collision detection method according to the present invention is a collision detection method implemented by a servomotor controller including a servomotor for moving an object to be moved and a servomotor control unit for controlling the servomotor in accordance with a position command, the collision detection method including outputting a velocity dimension signal corresponding to the position command, outputting the velocity dimension signal of the servomotor, calculating a velocity deviation, which is a difference between the output velocity dimension signal corresponding to the position command and the output velocity dimension signal of the servomotor, outputting an acceleration dimension signal corresponding to the position command, outputting the acceleration dimension signal of the servomotor, and calculating an acceleration deviation, which is a difference value between the output acceleration dimension signal corresponding to the position command and the output acceleration dimension signal of the servomotor, and detecting a collision when an absolute value of any of the speed deviation and the acceleration deviation selected according to a specific parameter becomes a specific value or more.
With such a configuration, the collision detection method can be appropriately selected according to the application of the application program, and the accuracy of the collision detection can be improved.
Effects of the invention
According to the present invention, it is possible to provide a servo motor control device having excellent detection accuracy of collision detection by selecting a collision detected from a speed deviation and a collision detected from an acceleration deviation based on a specific parameter.
Drawings
Fig. 1 is a system configuration diagram of a servo motor control device according to an embodiment of the present invention.
Fig. 2 is a block diagram showing a control configuration of the servo motor control unit shown in fig. 1 when executing position control.
Fig. 3 is a block diagram showing a control configuration of the servo motor control unit shown in fig. 1 when executing speed control.
Fig. 4 is a block diagram illustrating a control structure including a control system shown in fig. 1 or 2.
Detailed Description
< embodiment >
[ Structure of control System X ]
The configuration of a control system X according to an embodiment of the present invention will be described with reference to fig. 1. The control system X is a system for controlling various devices such as a robot, a machine tool, a vehicle, a ship, an airplane, and a plant device.
The control system X of the present embodiment includes a servomotor control device 1, an operation target 2, and a host device 3.
The servomotor controller 1 controls the servomotor 20 while adjusting a control amount in accordance with a position command or a speed command, and operates the operation object 2. Then, the servomotor control device 1 detects a collision with the operation object 2.
In the case where the position control is performed in accordance with the position command, the servomotor control device 1 detects that the robot arm is stopped due to contact with an obstacle or the like as detecting the collision. When the speed control is executed based on the speed command, the servomotor control device 1 detects that the rotating member of the machine tool has stopped due to missing teeth, a failure in the drive belt, or the like.
The servomotor control device 1 is a hardware resource for executing the collision detection method according to the present embodiment.
The operation target 2 is a member to be subjected to operation control by the servo motor control device 1. The object 2 to be operated is, for example, an arm of an industrial robot, a rotating member of a machine tool, a wheel, a gear, a transmission belt of a vehicle, a shaft of a ship, a propeller of an airplane, an actuator of a plant, or the like.
The host apparatus 3 is an external device for controlling and managing various devices and the like. Specifically, the host device 3 is, for example, a PLC (Programmable Logic Controller), a FC (Factory Computer), a Server (Server), a PC (Personal Computer), or the like. The host device 3 executes an Application Program (Application Program) for controlling and managing the servo motor control device 1. Thereby, the host device 3 issues a position command or a speed command to the servomotor control device 1, and receives various information from the servomotor control device 1. The host device 3 can also obtain an instruction from the user and set various setting values to a parameter setting unit 190 (fig. 2 and 3) described later.
The servomotor control device 1 includes a servomotor control unit 10, a servomotor 20, and a detection unit 30.
The servomotor control unit 10 controls the servomotor 20 in accordance with a position command or a speed command from the host device 3. Specifically, the servomotor control section 10 includes, for example: control and operation units such as an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), a DSP (Digital Signal Processor), a CPU (Central Processing Unit), and an MPU (Micro Processing Unit); and an analog or digital driving section (amplifier) for supplying power to and driving the servomotor 20.
Here, as will be described later, the servomotor control section 10 can change the configuration by the application program of the host device 3 when the position control is executed based on the position command and when the speed control is executed based on the speed command.
The servo motor 20 includes an AC servo motor 20, a DC servo motor 20, a linear actuator, and the like. The servomotor 20 operates the operation object 2.
The detection unit 30 includes a position detection sensor that detects a position of the shaft or the like of the servomotor 20, and specifically, the detection unit 30 includes a position detection sensor that detects and outputs a position of the servomotor 20. The position detection sensor is, for example, a magnetic or optical Encoder (Encoder).
The output signal of the detection unit 30 is input to the servomotor control unit 10 and used for Feedback (Feedback) control of position control or speed control.
Each part described later realized by the control arithmetic unit of the servomotor control unit 10 may be constituted by a specific digital circuit. In addition to the digital circuit, the circuit may be configured by an analog circuit, or may be configured by a circuit that executes software using hardware resources by developing and executing a control program stored in a ROM (Read Only Memory) in a RAM (random access Memory).
In addition, in order to obtain the speed dimension signal of the motor, a structure without using an analog differentiator may be adopted. In this case, as will be described later, the observer 300 (fig. 4) estimates the speed of the servo motor 20 from the motion model of the motion object 2, and performs control.
[ Structure of servomotor control section 10 ]
Next, a detailed control structure of the servomotor control section 10 of fig. 1 will be described with reference to fig. 2 to 4.
Fig. 2 shows a configuration of the servomotor control section 10a for performing position control in which a position command of the servomotor 20 is input and a position of the servomotor 20 is output, and performing collision detection.
The servomotor control unit 10a includes a position command velocity dimension signal output unit 110a, a servomotor velocity dimension signal output unit 120, a first collision detection unit 130, a position command acceleration dimension conversion unit 140a, a servomotor acceleration dimension conversion unit 150, a second collision detection unit 160, a third collision detection unit 170, a selection unit 180, and a parameter setting unit 190.
The control system 100 includes a model of the operation target object 2, and represents the entire control system 100 that performs control by feedback.
The position command speed dimension signal output unit 110a receives a position command from the host device 3 or the like, and outputs a speed dimension signal corresponding to the position command.
The position command velocity dimension signal output unit 110a includes a differentiator 111 and a filter 112.
The differentiator 111 is an analog differentiator that performs differentiation processing on the position command and converts the position command into a velocity dimension.
The Filter 112 is, for example, a first order IIR Filter (Infinite Impulse Response Filter). Thereby, the filter 112 outputs a time-delayed signal. The filter 112 includes an element having 1/(τ s +1) as a transfer function as a model of the control system 100. Here, τ is a time constant, and s is a laplace operator. The parameters such as the cutoff frequency of the filter 112 can be set from the outside, specifically, by the cutoff setting 193 of the parameter setting unit 190.
The cutoff setting 193 may calculate the cutoff frequency of the filter based on a set value of the servo gain.
Also, various filters other than the primary filter may be used as the filter 112.
The servomotor speed dimension signal output section 120 outputs a speed dimension signal of the servomotor 20.
The servo motor speed dimension signal output unit 120 acquires, as an example, a position signal of the servo motor 20 detected by a position detection sensor of the detection unit 30, performs a differentiation process on the position signal by a differentiator, and outputs the resultant signal as a speed dimension signal. In this case, the servo motor speed dimension signal output unit 120 calculates a speed feedback value, which is a differential value of the position feedback value obtained from the actual control system 100.
The servo motor speed dimension signal output unit 120 can calculate the speed dimension signal by another method. The method of acquiring and calculating the velocity dimension signal will be described later.
The first collision detection unit 130 receives a speed deviation, which is a difference value between the speed dimension signal output from the position command speed dimension signal output unit 110a and the speed dimension signal output from the servomotor speed dimension signal output unit 120. On this basis, when the absolute value of the speed deviation that has been input reaches a specific value or more, the first collision detecting portion 130 detects a collision. When detecting a collision, the first collision detection unit 130 outputs a collision detection signal.
The position command acceleration dimension conversion unit 140a converts the velocity dimension signal output from the position command velocity dimension signal output unit 110a into an acceleration dimension signal and outputs the acceleration dimension signal. Specifically, the position command acceleration dimension conversion unit 140a further performs a differentiation process by a differentiator, converts the velocity dimension signal related to the input position command into an acceleration dimension, and outputs the acceleration dimension as an acceleration dimension signal.
The servomotor acceleration dimension conversion unit 150 converts the velocity dimension signal of the servomotor 20 into an acceleration dimension signal and outputs the acceleration dimension signal. Specifically, the servomotor acceleration dimension conversion unit 150 further performs a differentiation process by a differentiator, converts the velocity dimension signal output from the servomotor velocity dimension signal output unit 120 into an acceleration dimension, and outputs the acceleration dimension as an acceleration dimension signal, as an example.
The second collision detection unit 160 receives an acceleration deviation, which is a difference value between the acceleration dimension signal output from the position command acceleration dimension conversion unit 140a and the acceleration dimension signal output from the servomotor acceleration dimension conversion unit 150. In addition, when the absolute value of the acceleration deviation becomes equal to or greater than a predetermined value, the second collision detection portion 160 detects a collision. The second collision detection unit 160 outputs a collision detection signal when a collision is detected.
The third collision detection unit 170 detects a collision when the absolute value of the acceleration dimension signal output from the servo motor acceleration dimension conversion unit 150 is equal to or greater than a predetermined value. The third collision detection section 170 outputs a collision detection signal when a collision is detected.
The selection unit 180 selects the setting 191 to use any one of the first collision detection unit 130, the second collision detection unit 160, and the third collision detection unit 170 for collision determination according to the detection method of the parameter setting unit 190. Then, the selection unit 180 outputs the collision detection signal of the selected unit to the host device 3 and the like.
The parameter setting unit 190 mainly sets various settings, and stores the various settings in a non-transitory storage medium such as a RAM or an EEPROM. Each set value of the parameter setting unit 190 can be set by an external device such as the host device 3. The respective set values may be set by dip switches or the like.
The parameter setting unit 190 includes a detection method selection setting 191, a specific value setting 192, and a cutoff setting 193.
The detection method selection setting 191 is setting information for specifying which of the first collision detection unit 130, the second collision detection unit 160, and the third collision detection unit 170 is used by the selection unit 180 to set a specific parameter for collision detection. In an application program for operating the servo motor 20 at a normal speed, the first collision detection unit 130 using the speed deviation is preferentially selected as the specific parameter. In the application program with a high acceleration, the second collision detection unit 160 using the acceleration deviation is preferentially selected as a specific parameter. In the application program with a low acceleration, the third collision detection unit 170 using the feedback of the acceleration is preferentially selected as a specific parameter.
The specific parameter may be specified not only by a numerical value but also by a functional form such as a specific mathematical model, a fuzzy function, or an artificial neural network.
The specific value is set 192 to the specific value of the first collision detecting portion 130, the specific value of the second collision detecting portion 160, and the specific value of the third collision detecting portion 170. The special value setting 192 can also prepare a single value to be replaced and used in each application. In addition, specific values of the specific value setting 192 may also be prepared for the first collision detecting portion 130, the second collision detecting portion 160, and the third collision detecting portion 170, respectively.
Cutoff setting 193 sets the cutoff frequency of filter 112. Further, since the cutoff frequency can be calculated from the set value of the servo gain, the cutoff frequency can also be set by changing the set servo gain by the cutoff setting 193.
The first collision detection unit 130, the second collision detection unit 160, and the third collision detection unit 170 may detect a collision in another manner. Other methods of collision detection will be described later.
Further, the third collision detection unit 170 may not be provided.
Next, the configuration of the servomotor control unit 10b when executing speed control in which the speed command of the servomotor 20 is input and the speed of the servomotor 20 is output will be described with reference to fig. 3. In fig. 2 and 3, the same components are denoted by the same reference numerals.
The servomotor control unit 10b includes a velocity command velocity dimension signal output unit 110b and a velocity command acceleration dimension conversion unit 140 b.
The speed command speed dimension signal output unit 110b receives a speed command from the host device 3 or the like, and outputs a speed dimension signal corresponding to the speed command.
The speed command speed dimension signal output unit 110b does not perform differentiation processing because the speed command is a value of the speed dimension at this time, and inputs the result to the same filter 112 as the filter included in the position command speed dimension signal output unit 110 a.
The velocity-command acceleration dimension conversion unit 140b converts the velocity dimension signal output by the velocity-command velocity dimension signal output unit 110b into an acceleration dimension signal and outputs the acceleration dimension signal. This process is the same as the position command acceleration dimension conversion unit 140 a.
[ Structure of model of control System 100 ]
Next, details of acquiring the velocity dimensional signal and the acceleration dimensional signal, and other collision detection methods, etc. in the control system 100 will be described with reference to fig. 4, using a model of a state space expression in consideration of an internal state.
The control system 100 performs matching control on a model of an ideal transfer function (model) having ideal characteristics corresponding to the operation target 2 and used for appropriately controlling the servomotor 20.
If the laplacian operator is set to s, this model can be expressed as: m 0/(s)2+ m1s + m 0). The model can be deformed as follows, for example.
m0/(s2+m1s+m0)＝ω1ω2/(s+ω1)(s+ω2))
Here, ω 1 and ω 2 are cutoff frequencies of the model, and the following relational expression holds.
Relationship (1) between m0 ω 1 ω 2 and m1 ω 1+ ω 2 … …
Further, ω 1 and ω 2 are set in accordance with the characteristics of the motion target object 2 and the servo motor 20 or the purpose of control, and therefore, a desired control response characteristic can be obtained.
The control system 100 includes a proportional gain element 200, an integral filter element 210, a motor gain element 220, a control target element 230 including a servo motor and an operation target, a differential filter element 240, a forward path 250, a first feedback path 260, and a second feedback path 270.
Here, a value (gain) obtained by dividing a value (inertia) of the inertia moment of the moving object 2 and the servomotor 20 by a specific value including a specific gain of an amplifier (not shown) that supplies electric power to the servomotor 20 and a torque constant of the servomotor 20 is K. A gain, which is a value obtained by dividing the inertia of the motion target object 2 and the servo motor 20 by a term relating to the viscosity of the motion target object 2 and the servo motor 20, is defined as p.
In this case, the respective elements are expressed as follows:
the proportional gain element 200 is m 0.
Wherein the integration filter element 210 is(s)2+q1s+q0)/(s2+ a1 s).
The motor gain element 220 is 1/K.
The control object element 230 including the servo motor and the operation object is a control object and is represented by K/(s)2+ ps) of the transfer function.
The differential filter element 240 is (b2 s)2+b1s)/(s2+ q1s + q0) representsThe transfer function of (2).
The forward path 250 is a path from an input to an output of the control system 100.
The first feedback path 260 is a first feedback loop from the output portion to the input side of the control system 100.
The second feedback path 270 is a second feedback loop from the output to the input side of the control system 100. Here, the second feedback path 270 calculates a deviation of a signal obtained by multiplying the value of the position command by the proportional gain. That is, the second feedback path 270 is a feedback loop for calculating a deviation between a signal obtained by multiplying the value of the position command by the proportional gain and a signal obtained by differentiating the position signal detected by the position detection sensor by the differentiating filter element 240.
In addition, a1, b1, b2 satisfy the following relationships:
a1 ═ q1+ m1-p … … relational expression (2)
b1 ═ q0 × m1 … … relational expression (3)
b2 ═ q1-p (m1-p) + q0 … … (4)
The q0 and q1 are values arbitrarily set for appropriately controlling the moving object 2 and the servo motor 20.
With this configuration, the servomotor speed dimension signal output unit 120 selects any one of the speed feedback (a), the speed feedback (b), and the speed feedback (c) shown in fig. 4 as the speed dimension signal, and can be used for calculation and output of the speed dimension signal.
As described above, the velocity feedback (a) is a velocity feedback value obtained by calculating the position signal (position feedback value) of the servo motor 20 detected by the position detection sensor or the like of the detection unit 30 by the differentiator.
The velocity feedback (b) is a velocity estimation signal estimated by the observer 300. The observer 300 is a speed observer that estimates a speed from an input signal input to a control object of a model and an output signal of the control object. Specifically, the observer 300 estimates the gains K and p based on the input to the controlled object element 230 and the output from the controlled object element 230. In this case, the scope 300 may be further configured to: the gain K is estimated by, for example, the least square method. In this case, the observer 300 may use the values of the gains K and p, knowing the gains K and p. When these values are unknown, the gains K and p are estimated sequentially at specific time intervals.
In addition, when the speed feedback (b) is not used, the observer 300 may not be used.
Velocity feedback (c) is the output signal of the derivative filter element 240 of the second feedback path 270. That is, the velocity feedback (c) outputs the output signal of the differential filter divided in the second feedback loop as the velocity dimension signal.
The parameter setting unit 190 may set which velocity feedback value is used by the servo motor velocity dimension signal output unit 120.
The first collision detection unit 130 calculates a difference value between a signal obtained by multiplying the position command value by the proportional gain and a signal obtained by differentiating the position signal detected by the position detection sensor as a simulated velocity deviation instead of the velocity deviation, and can perform collision detection using the simulated velocity deviation instead of the velocity deviation. That is, the first collision detection unit 130 calculates a difference value between the output value of the proportional gain element 200 and the output value of the differential filter element 240 of the second feedback path 270 as the analog velocity deviation. In this case, the first collision detection unit 130 detects a collision when the absolute value of the calculated simulated velocity deviation is equal to or greater than a predetermined value.
Similarly, the second collision detection unit 160 may calculate a signal obtained by differentiating the analog speed deviation by the differentiator 310 as an analog acceleration deviation instead of the acceleration deviation. In this case, the second collision detection portion 160 detects a collision when the absolute value of the calculated simulated acceleration deviation becomes equal to or greater than a specific value. The third collision detection unit 170 may also perform collision detection using a value simulating an acceleration deviation.
[ Effect of the present embodiment ]
With the above configuration, the following effects can be obtained.
Conventionally, as described in patent document 1, it has not been possible to obtain sufficient collision detection accuracy by a method of performing collision detection using torque.
A servomotor control device 1 according to an embodiment of the present invention is a servomotor control device 1 including a servomotor 20 that operates an operation target object, and a servomotor control unit 10a that controls the servomotor 20 based on a position command, the servomotor control unit 10a including: a position command speed dimension signal output unit 110a that outputs a speed dimension signal corresponding to the position command; a servo motor speed dimension signal output unit 120 that outputs a speed dimension signal of the servo motor 20; a first collision detection unit 130, which detects a collision by the first collision detection unit 130 when an absolute value of a speed deviation, which is a difference value between the speed dimension signal output from the position command speed dimension signal output unit 110a and the speed dimension signal output from the servo motor speed dimension signal output unit 120, is equal to or greater than a predetermined value; a position command acceleration dimension conversion unit 140a that converts the velocity dimension signal output by the position command velocity dimension signal output unit 110a into an acceleration dimension signal and outputs the acceleration dimension signal; a servo motor acceleration dimension conversion unit 150 that converts the velocity dimension signal output from the servo motor velocity dimension signal output unit 120 into an acceleration dimension signal and outputs the acceleration dimension signal; a second collision detection unit 160 that detects a collision when an absolute value of an acceleration deviation, which is a difference value between the acceleration dimension signal output from the position command acceleration dimension conversion unit 140a and the acceleration dimension signal output from the servomotor acceleration dimension conversion unit 150, is equal to or greater than a predetermined value; and a selection unit 180 that selects the first collision detection unit 130 and the second collision detection unit 160 according to a detection method selection setting 191 of a parameter setting unit 190.
With such a configuration, the first collision detection unit 130 and the second collision detection unit 160 can be appropriately selected and used according to the application of the application program and the like. Here, the first collision detection unit 130 can accurately detect a collision compared to a case where a positional deviation or a torque is used. Further, the second collision detection unit 160 can more accurately detect the collision in a situation where the acceleration of the servo motor 20 is fast. Therefore, since the first collision portion 130 and the second collision detection portion 160 can be selected according to the specific parameter corresponding to the application program, the detection accuracy of the collision detection can be improved.
Further, in the technique of patent document 1, although it is not possible to detect a collision at the time of acceleration and deceleration, it is possible to detect a collision at the time of acceleration and deceleration by selecting the second collision detecting unit 160.
A servomotor control device 1 according to an embodiment of the present invention is a servomotor control device 1 including a servomotor 20 that operates an operation target object, and a servomotor control unit 10b that controls the servomotor 20 in accordance with a speed command, the servomotor control unit 10b including: a speed command speed dimension signal output unit 110b that outputs a speed dimension signal corresponding to the speed command; a servo motor speed dimension signal output unit 120 that outputs a speed dimension signal of the servo motor 20; a first collision detection unit 130, which detects a collision by the first collision detection unit 130 when an absolute value of a speed deviation, which is a difference between the speed dimension signal output from the speed command speed dimension signal output unit 110b and the speed dimension signal output from the servo motor speed dimension signal output unit 120, is equal to or greater than a predetermined value; a velocity command acceleration dimension conversion unit 140b that converts the velocity dimension signal output by the velocity command velocity dimension signal output unit 110b into an acceleration dimension signal and outputs the acceleration dimension signal; a servomotor acceleration dimension conversion unit 150 that converts the velocity dimension signal output from the servomotor velocity dimension signal output unit 120 into an acceleration dimension signal and outputs the acceleration dimension signal; a second collision detection unit 160 that detects a collision when the absolute value of the acceleration deviation, which is the difference between the acceleration dimension signal output from the velocity command acceleration dimension conversion unit 140b and the acceleration dimension signal output from the servomotor acceleration dimension conversion unit 150, is equal to or greater than a predetermined value; and a selection unit 180 that selects the first collision detection unit 130 and the second collision detection unit 160 based on the detection method selection setting 191 of the parameter setting unit 190.
With such a configuration, the accuracy of collision detection can be improved, similarly to the above-described servomotor control unit 10 a. Further, if the speed command is adopted, the differential element can be reduced, and therefore the speed command speed dimension signal output unit can be simplified.
In addition, in the conventional technology for performing collision detection only by using a position command, collision detection cannot be performed during speed control. In contrast, according to the servomotor control section 10b of the present embodiment, collision detection can be accurately performed even during speed control.
The servomotor control unit 10 according to the embodiment of the present invention is characterized in that the servomotor control unit 10 further includes a third collision detection unit 170, and when the absolute value of the acceleration dimension signal output from the servomotor acceleration dimension conversion unit 150 is equal to or greater than a predetermined value, the third collision detection unit 170 detects a collision, and the selection unit 180 further selects the third collision detection unit 170 based on a predetermined parameter.
With such a configuration, the dimensional signal itself, which is a value of acceleration, can be compared with a specific value, and the accuracy of collision detection can be improved in a situation where acceleration and deceleration are slow.
In the servomotor control device 1 according to the embodiment of the present invention, the servomotor speed dimension signal output unit 120 outputs a signal obtained by differentiating the position signal detected by the position detection sensor that detects the position of the servomotor 20, as the speed dimension signal.
With such a configuration, the velocity dimension signal can be easily acquired by the differentiator. Therefore, the structure can be simplified and the cost can be reduced.
In the servo motor control device 1 according to the embodiment of the present invention, the servo motor velocity dimension signal output unit 120 outputs a velocity estimation signal calculated by the observer 300, which estimates a velocity from an input signal input to a control target of the model and an output signal of the control target, as the velocity dimension signal.
With such a configuration, collision detection can be performed even in a configuration in which the observer 300 is used without using the servo motor speed dimension signal output circuit 120.
The servo motor control device 1 according to the embodiment of the present invention is characterized in that the servo motor control device 1 includes a second feedback path 270, the second feedback path 270 is a feedback loop for calculating a deviation between a signal obtained by multiplying a value commanded to a position by a proportional gain and a signal obtained by differentiating the position signal detected by the position detection sensor by the differential filter element 240, and the servo motor velocity dimension signal output unit 120 outputs an output signal of the differential filter element 240 distributed in the second feedback path 270 as a velocity dimension signal.
With this configuration, the output in the feedback loop can be directly used as the velocity dimension signal, and therefore, the calculation can be simplified, and the configuration can be simplified and the cost can be reduced.
The servo motor control device 1 according to the embodiment of the present invention is characterized in that the first collision detection unit 130 calculates a difference value between a signal obtained by multiplying the position command value by the proportional gain and a signal obtained by differentiating the position signal detected by the position detection sensor as a simulated velocity deviation instead of the velocity deviation, and detects a collision when the absolute value of the simulated velocity deviation is equal to or greater than a predetermined value.
With this configuration, the analog speed deviation can be directly used as the speed dimension signal by performing only the differential processing on the value in the middle of the transfer function calculation, and therefore, the calculation can be simplified, and the configuration and cost can be reduced.
The servo motor control device 1 according to the embodiment of the present invention is characterized in that the second collision detection unit 160 calculates a signal obtained by differentiating the analog speed deviation as the analog acceleration deviation instead of the acceleration deviation, and detects a collision when the absolute value of the analog acceleration deviation is equal to or greater than a predetermined value.
With this configuration, the analog acceleration deviation can be directly used as the acceleration dimension signal by performing only the differentiation process on the value in the middle of the transfer function calculation, and therefore, the calculation can be simplified, and the configuration and cost can be reduced.
Further, in the servo motor control device 1 according to the embodiment of the present invention, the selection unit 180 selects any one of the first collision detection unit 130, the second collision detection unit 160, and the third collision detection unit 170 based on a parameter set from the outside.
With such a configuration, it is possible to use a circuit suitable for any collision detection from the outside at any time. Therefore, the changed load is reduced, and the collision detection mode can be easily changed.
Further, the servomotor control device 1 according to the embodiment of the present invention is characterized in that the selection unit 180 externally sets the specific value of the first collision detection unit 130, the specific value of the second collision detection unit 160, and the specific value of the third collision detection unit 170.
With this configuration, it is possible to set the specific value from the outside at any time. Therefore, the change load is reduced, and the specific value as the threshold value for collision detection can be easily changed.
The servo motor control device 1 according to the embodiment of the present invention is characterized in that the velocity dimension signal is a signal including a filter 112 having 1/(τ s +1) as an element of a transfer function as a model of the control system 100.
With such a configuration, the filter 112 can include the elements of the control model, and the position command value or the speed command value can be used as the value to be input to the actual control target. This makes it possible to acquire a signal close to an actual signal in a simulated manner, and to accurately detect a collision compared to the conventional case.
Further, the servo motor control device 1 according to the embodiment of the present invention is characterized in that the filter 112 sets the cutoff frequency from the outside.
With this configuration, the cutoff frequency can be set from the outside as needed, and thus the change load is reduced. The cutoff frequency can be appropriately and easily selected in conjunction with the servomotor 20. As described above, the cutoff frequency may be calculated from the set value of the servo gain.
A collision detection method according to an embodiment of the present invention is a collision detection method executed by a servomotor controller 1 including a servomotor 20 that moves an object to be moved and a servomotor control unit 10 that controls the servomotor 20 in accordance with a position command, wherein a velocity dimension signal corresponding to the position command is output, the velocity dimension signal of the servomotor 20 is output, a velocity deviation, which is a difference value between the output velocity dimension signal corresponding to the position command and the output velocity dimension signal of the servomotor 20, is calculated, an acceleration dimension signal corresponding to the position command is output, an acceleration dimension signal of the servomotor 20 is output, an acceleration deviation, which is a difference value between the output acceleration dimension signal corresponding to the position command and the output acceleration dimension signal of the servomotor 20, is calculated, and detecting a collision when an absolute value of either one of the speed deviation and the acceleration deviation selected according to a specific parameter reaches a specific value or more.
With such a configuration, the collision detection method can be appropriately selected and used according to the application of the application program. Therefore, the accuracy of collision detection can be improved.
[ other embodiments ]
In the above-described embodiment, an example in which the collision detection is performed by the servomotor 20 is described. However, the collision detection method of the present invention can also be used in applications where the control system 100 becomes unstable and a state causing vibration or the like is detected. This can stabilize the control of the servomotor 20 against external disturbances and the like.
In the above-described embodiment, it is described that the first collision detection unit 130, the second collision detection unit 160, and the third collision detection unit 170 perform collision detection by comparing the absolute value of the velocity deviation, the absolute value of the acceleration deviation, and the absolute value of the acceleration dimension signal with specific values.
However, the following structure is also possible: when the absolute value of the velocity deviation, the absolute value of the acceleration deviation, and the absolute value of the acceleration dimension signal are input to the selection circuit 180, and the absolute value is selected and used by the detection method selection setting 191, and the value set by the specific value setting 192 of the parameter setting unit 190 is equal to or greater than the specific value, a collision is detected by a comparator or the like after the selection unit 180.
With this configuration, the output of the collision detection can be processed by one comparator, and thus the circuit scale and the cost can be reduced.
The configuration and operation of the above embodiment are merely examples, and appropriate modifications can be made without departing from the scope of the present invention.
Description of the reference symbols
1 servomotor control device
2 object to be operated
3 host device
10. 10a, 10b servo motor control part
20 servo motor
30 detection part
100 control system
110a position command speed dimension signal output unit
110b speed command speed dimension signal output unit
111. 310 differentiator
112 filter
120 servo motor speed dimension signal output part
130 first collision detection part
140a position command acceleration dimension conversion unit
140b speed command acceleration dimension conversion unit
150 servo motor acceleration dimension conversion part
160 second collision detecting section
170 third collision detecting unit
180 selection part
190 parameter setting unit
191 detection method selection settings
192 specific value setting
193 cutoff setting
200 proportional gain element
210 integral filter element
220 motor gain element
230 control object element
240 differential filter element
250 forward path
260 first feedback path
270 second feedback path
300 observer
X control system
Claims (16)
1. A servomotor control device comprising a servomotor for operating an object to be operated and a servomotor control unit for controlling the servomotor based on a position command, the servomotor control unit comprising:
a position command speed dimension signal output unit that outputs a signal obtained by multiplying a value of the position command by a proportional gain as a speed dimension signal corresponding to the position command;
a servo motor speed dimension signal output unit that outputs, as a speed dimension signal of the servo motor, a signal obtained by differentiating a position signal detected by a position detection sensor that detects a position of the servo motor;
a first collision detection unit that detects a collision when an absolute value of a simulated velocity deviation value, which is a difference value between the velocity dimensional signal output from the position command velocity dimensional signal output unit and the velocity dimensional signal output from the servo motor velocity dimensional signal output unit, is equal to or greater than a predetermined value;
a position command acceleration dimension conversion unit that converts the velocity dimension signal output by the position command velocity dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal;
a servo motor acceleration dimension converting unit that converts the speed dimension signal output by the servo motor speed dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal;
a second collision detection unit that detects a collision when an absolute value of a simulated acceleration deviation, which is a signal obtained by differentiating the simulated velocity deviation, is equal to or greater than a predetermined value; and
and a selection unit that selects the first collision detection unit and the second collision detection unit to perform collision detection based on a specific parameter depending on an application program for controlling and managing the servo motor control device, and outputs a collision detection signal generated by the selected collision detection unit to a host device for outputting the position command.
2. The servomotor control device according to claim 1,
the servomotor control section further includes a third collision detection section that detects a collision when an absolute value of the acceleration dimension signal output by the servomotor acceleration dimension conversion section is equal to or greater than a predetermined value,
the selection unit further selects the third collision detection unit based on the specific parameter.
3. The servomotor control device according to claim 1,
the servo motor control device includes a feedback loop for calculating a deviation between a signal obtained by multiplying the position command by a proportional gain and a signal obtained by differentiating a position signal detected by a position detection sensor for detecting the position of the servo motor by a differential filter,
the servo motor speed dimension signal output section outputs an output signal of the differential filter distributed in the feedback loop as a speed dimension signal.
4. The servomotor control device according to claim 2,
the selection unit selects any one of the first collision detection unit, the second collision detection unit, and the third collision detection unit based on the parameter set from the outside.
5. The servomotor control device according to claim 2,
the selection portion externally sets a specific value of the first collision detection portion, a specific value of the second collision detection portion, and a specific value of the third collision detection portion.
6. The servomotor control device according to claim 1,
the velocity dimension signal is a signal of a filter including an element having a transfer function of 1/(τ s +1) as a control system model.
7. The servomotor control device according to claim 6,
the filter externally sets the cut-off frequency.
8. The servo motor control device according to claim 2,
the specific parameter is selected from among the first collision detection unit in an application program in which the servo motor is operated at a normal speed, the second collision detection unit in an application program in which acceleration is fast, and the third collision detection unit in an application program in which acceleration is slow.
9. A collision detection method implemented by a servomotor control device having a servomotor for operating an object to be operated and a servomotor control unit for controlling the servomotor in accordance with a position command, the collision detection method being characterized in that,
outputting a signal obtained by multiplying the value of the position command by a proportional gain as a speed dimension signal corresponding to the position command,
outputting a signal obtained by differentiating a position signal detected by a position detection sensor for detecting a position of the servomotor as a velocity dimension signal of the servomotor,
calculating a simulated velocity deviation which is a difference value between the output velocity dimension signal corresponding to the position command and the output velocity dimension signal of the servo motor,
outputting an acceleration dimension signal corresponding to the position command,
outputting an acceleration dimension signal of the servo motor,
calculating a simulated acceleration deviation which is a signal obtained by differentiating the simulated velocity deviation,
when the absolute value of any one of the simulated velocity deviation and the simulated acceleration deviation, which is selected according to a specific parameter depending on the application program for controlling and managing the servo motor control device, is equal to or greater than a specific value, a collision is detected, and a generated collision detection signal is output to a host device for outputting the position command.
10. A servomotor controller having a servomotor for operating an object to be operated and a servomotor control unit for controlling the servomotor in accordance with a speed command, the servomotor controller being characterized in that,
the servo motor control unit includes:
a speed command speed dimension signal output unit that outputs a signal obtained by multiplying a value of the speed command by a proportional gain as a speed dimension signal corresponding to the speed command;
a servo motor speed dimension signal output unit that outputs, as a speed dimension signal of the servo motor, a signal obtained by differentiating a position signal detected by a position detection sensor that detects a position of the servo motor;
a first collision detection unit that detects a collision when an absolute value of a simulated velocity deviation value, which is a difference value between the velocity dimensional signal output by the velocity command velocity dimensional signal output unit and the velocity dimensional signal output by the servo motor velocity dimensional signal output unit, is equal to or greater than a predetermined value;
a speed command acceleration dimension conversion unit that converts the speed dimension signal output by the speed command speed dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal;
a servo motor acceleration dimension converting unit that converts the speed dimension signal output by the servo motor speed dimension signal output unit into an acceleration dimension signal and outputs the acceleration dimension signal;
a second collision detection unit that detects a collision when an absolute value of a simulated acceleration deviation, which is a signal obtained by differentiating the simulated velocity deviation, is equal to or greater than a predetermined value; and
and a selection unit that selects the first collision detection unit and the second collision detection unit based on a specific parameter depending on an application program for controlling and managing the servo motor control device to perform collision detection, and outputs a collision detection signal generated by the selected collision detection unit to a host device for outputting the speed command.
11. The servomotor control device according to claim 10,
the servomotor control section further includes a third collision detection section that detects a collision when an absolute value of the acceleration dimension signal output by the servomotor acceleration dimension conversion section is equal to or greater than a predetermined value,
the selection portion further selects the third collision detection portion according to the specific parameter.
12. The servomotor control device according to claim 10,
the servo motor control device includes a feedback loop for calculating a deviation between a signal obtained by multiplying the position command by a proportional gain and a signal obtained by differentiating a position signal detected by a position detection sensor for detecting the position of the servo motor by a differential filter,
the servo motor speed dimension signal output section outputs an output signal of the differential filter distributed in the feedback loop as a speed dimension signal.
13. The servomotor control device according to claim 11,
the selection unit selects any one of the first collision detection unit, the second collision detection unit, and the third collision detection unit based on the parameter set from the outside.
14. The servomotor control device according to claim 11,
the selection portion externally sets a specific value of the first collision detection portion, a specific value of the second collision detection portion, and a specific value of the third collision detection portion.
15. The servomotor control device according to claim 10,
the velocity dimension signal is a signal including a filter having 1/(τ s +1) as an element of a transfer function as a control system model.
16. The servomotor control device according to claim 15,
the filter externally sets the cut-off frequency.
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| JP2015073831A JP6517567B2 (en) | 2015-03-31 | 2015-03-31 | Servo motor control device and collision detection method |
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| CN110268358B (en) * | 2017-02-09 | 2022-11-04 | 三菱电机株式会社 | Position control device and position control method |
| JP6376296B1 (en) * | 2017-02-09 | 2018-08-22 | 三菱電機株式会社 | Position control device and position control method |
| JP6460138B2 (en) * | 2017-03-13 | 2019-01-30 | オムロン株式会社 | Processing device, control parameter determination method, and control parameter determination program |
| TWI678277B (en) * | 2017-03-21 | 2019-12-01 | 德律科技股份有限公司 | Barrier detection method and anti-collision method of pressing bed |
| CN107357262B (en) * | 2017-05-31 | 2019-07-23 | 深圳市亚启科技有限公司 | Mechanical displacement collision zero control system and method based on motion control |
| JP2019000930A (en) * | 2017-06-13 | 2019-01-10 | 住友理工株式会社 | Safety device |
| CN107289929A (en) * | 2017-08-08 | 2017-10-24 | 珠海市微半导体有限公司 | The detection method and system and chip of barrier are encountered by a kind of robot |
| KR102370879B1 (en) * | 2017-09-12 | 2022-03-07 | 주식회사 한화 | Method and Apparatus for controlling a collaborativve robot |
| JP6922747B2 (en) * | 2018-01-11 | 2021-08-18 | トヨタ自動車株式会社 | Motor torque control device |
| JP7180165B2 (en) * | 2018-07-23 | 2022-11-30 | セイコーエプソン株式会社 | ROBOT, CONTROL DEVICE AND CONTROL METHOD |
| CN109510551A (en) * | 2018-12-28 | 2019-03-22 | 上海辛格林纳新时达电机有限公司 | The implementation method and device of essential safe type servo-system |
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